Cocoon

Cocoon has 11 total collectibles known as Moon Ancestors. These can be acquired as you play through the game, or easily mopped up using chapter select once you finish the story. They are most often hidden just off the main path; may involve a small and simple puzzle, and are unlocked with an interaction.
4:49 - 52% - Different Destinations
Once this checkpoint begins, open the large gate, and use both walkers to launch them across the gap to extend yourself a bridge. Cross the bridge and keep to the far right; revealing a staircase leading to this collectible.

CHAPTER 3 - DIFFERENT DESTINATIONS ACHIEVEMENT

You unlock this by interacting with the Moon Ancestor in level 3, you can find this using this guide to help you get through all of chapter 3 to get all of the achievements on that chapter, the Different Destinations achievement drops just around the 33:00 mark.

Check the guide below, you need to load at 52%


Timestamps:

00:00 Intro + 0-14% + Off the Beaten Path Achievement
04:49 14% - 17% + Pathfinder Achievement
06:37 17% - 24% + Mariner’s Branch Achievement
09:50 24% - 27% + Mesh Network Achievement
11:12 27% - 32% + Fundamental Changes Achievement
14:01 32% + End of the Line Achievement
14:40 32% - 46% + Skin Deep Achievement
21:45 46% - 52% + Different Destinations
26:26 52% - 56% + From There to Here Achievement
28:21 56% - 63% + Conduit Achievement
32:48 63% - 73% + This Has Potential Achievement
38:59 73% - 81% + Cryptographer Achievement
43:08 81% - 84% The Space Between the Stars Achievement
46:09 84% - 86% + A Perspective on things Achievement
47:26 86% - 90% + Daybreak Achievement
55:13 90% - 97% + Loophole Maneuvers Achievement
1:00:23 97% - 100% Cosmic Architect Achievement